I had one over my front door that kept reappearing after spraying.
I finally threw a bucket of soapy water on the nest and they
never returned. Might be just a coincidence, since I only have a
sample size of one. Perhaps the soap left a residue that was
unattractive to the wasps.

Generally speaking, if you give them enough grief, they will move away,
even if you don't kill them all. Just like most of us... ;-)